@Article{latentkl,
    Title                    = {Latent {Kullback Leibler} Control for Continuous-State Systems using Probabilistic Graphical Models},
    Author                   = {Takamitsu Matsubara and Vicen\c{c} G\'omez and Hilbert J. Kappen},
    Journal                  = {30th Conference on Uncertainty in Artificial Intelligence (UAI)},
    Year                     = {2014}
}